motor units mtr-dci, intelligent servo motors

Motor Units MTR-DCI, Intelligent Servo Motors

Motor units MTR-DCI – Subject to change – 2008/092

Motor Units MTR-DCI, Intelligent Servo MotorsKey features

General information

The motor unit MTR-DCI is an innovative

motor with integrated power electronics

for positioning tasks.

Four components in one housing

Integrated in the MTR-DCI are the motor,

gear unit, controller and power

electronics. This means that there is no

need for a control cabinet or extensive

cabling.

Reliable

The integrated power electronics and

controller removes the need for motor

cables and improves the

electromagnetic compatibility.

Additional monitoring functions are

integrated.

Uncomplicated

The complete commissioning process

can be performed directly on the

MTR-DCI via the optional LCD display or

on a PC via the user-friendly menus in

the FCT (Festo Configuration Tool). No

matter which approach is used, all

parameters are continuously controlled.

At a glance

• Compact design

• Smooth profile prevents the ingress

of dirt

• DC motor with planetary gear unit

and encoder

• Gear unit ratio:

7:1; 14:1, 22:1

• Protection class IP54

Positioning functionality

• 16 traversing records (including

homing)

• Constant acceleration and braking

• Positioning control

Protective functions

• Temperature monitoring

• Current monitoring

• Voltage failure detection

• Following error monitoring

• Software end-position detection

Easy actuation via

• I/O interface

• Profibus

• CANopen

• DeviceNet

1 Control panel with integrated

display (optional)

2 Input for reference limit switches

3 RS232 interface

4 Operator interface:

I/O interface

5 Power supply

6 Gear unit

1

2

3

4

5

6

Typical applications

Adjusting sorting conveyors Programming formats for paper or foil cutting machines

2008/09 – Subject to change – Motor units MTR-DCI 3

Motor Units MTR-DCI, Intelligent Servo MotorsType codes

MTR – DCI – 42 S – VC SC – E G7 – H2 IO

Type

MTR Motor

Motor type

Size

Torque class

S Standard

Nominal voltage

VC 24 V DC

VD 48 V DC

Plug design

SC Straight plug outlet

Measuring system

E Encoder

Gear unit ratio

G7 7:1

G14 14:1

G22 22:1

Parameterisation interface

R2 RS232

H2 RS232 and control panel

Electrical connection technology

IO I/O interface

CO CANopen interface

PB Profibus interface

DN DeviceNet interface


Motor Units MTR-DCI, Intelligent Servo MotorsTechnical data

Size: 32 … 62 mm

Voltage: 24, 48 V DC

Fieldbus interfaces

General technical data

Size 32 42 52 62

Rotary position generator Optical encoder

No. of increments/revolution 300 (1,200)1) 500 (2,000)1)

Controller operating mode PWM MOSFET power amplifier

Display resolution 128 x 64 pixels

Type of mounting Can be bolted on or clamped to gearing unit flange

Gearing unit type Planetary gearing

Gear unit ratio G7 6.75 (7:1); 1-stage

G14 13.73 (14:1); 2-stage

G22 – 22.21 (22:1); 2-stage

1) Internal 4-fold evaluation

Electrical data – Motor

Size 32 42 52 62

Nominal voltage [V DC] 24 ±10% 48 –10%/+5%

Nominal current (motor) [A] 0.73 2 5 6.19

Peak current [A] 2.1 3.8 7.7 20

Motor constant [Ncm/A] 4.5 6.1 6.4 12.1

Nominal power (motor) [W] 17 48 122 316

Max. current (digital logic outputs) [mA] 200 60

Parameterisation interface RS232; 9,600 baud

Mechanical data – Motor

Size 32 42 52 62

Gear unit ratio G7 G14 G7 G14 G7 G14 G7 G14 G22

Gearing unit output speed [rpm] 481 237 444 218 444 218 504 248 153

Gearing unit torsional backlash [°] ≤ 1.9 ≤ 1.55 ≤ 1.3 ≤ 0.95 ≤ 1.1 ≤ 0.75 ≤ 1 ≤ 1.5 ≤ 1.5

Gearing unit output torque [Nm] 0.15 0.29 0.59 1.13 1.62 3.08 3.78 7.2 11.66

Gearing unit efficiency 0.75 0.7 0.8 0.75 0.8 0.75 0.8 0.75 0.75

Mass moment of inertia

(rotor)

[kg cm2] 0.024 0.323 1.209 3.3

Mass moment of inertia

(gearing unit)

[kg cm2] 0.00089 0.00149 0.00235 0.00441 0.01132 0.01711 0.017 0.035 0.022

Radial shaft load [N] 40 70 160 230 200 320 240 360 360

Axial shaft load [N] 10 20 50 80 60 100 50 70 70

Product weight [kg] 0.72 0.74 1.72 1.83 3.1 3.3 7.6 8.0 8.0



Operating and environmental conditions

Size 32 42 52 62

Digital logic outputs Not electrically isolated Electrically isolated

Insulation protection class to VDE 60034 F

Protection class IP54

Protective functions I2T monitoring

Following error monitoring

Software end position detection

Voltage failure detection

Current monitoring

Temperature monitoring: Silicon absolute temperature sensor, switches off at temperatures >70 °C

Ambient temperature [°C] 0 ... +50

Storage temperature [°C] –25 ... +60

Relative air humidity [%] 0 ... 95 (non-condensing)

CE mark (see declaration of conformity) In accordance with EU EMC directive

Certification C-Tick

Note on materials Contains paint wetting impairment substances

Materials

Motor unit housing Anodised aluminium

Motor unit cover Aluminium, precision casting, coated (size 62 milled)

Technical data – I/O/fieldbus interface

Type MTR-DCI-…-IO MTR-DCI-…-CO MTR-DCI-…-PB MTR-DCI-…-DN

Interface I/O interface for 15

traversing records and

homing

CANopen Profibus DP DeviceNet

Number of digital logic inputs 6 – – –

Number of digital logic outputs 2 – – –

Max. current of digital logic 32/42 200 – – –g g

outputs (size) 52/62 60 – – –

Bus terminating resistor1) – Not integrated in the device Not integrated in the device Not integrated in the device

Communication profile – DS301 / FHPP DP-V0/V1 / FHPP FHPPp

– DS301; DSP402 Step7 functional modules Device type 0Ch

Max. fieldbus baud rate [kbps] – 1,000 12,000 500

1) Details of bus terminating resistor� 10



Torque M as a function of rotational speed n

Size 32 Size 42

M [Nm]

n[rpm]

n[rpm]

M [Nm]

Size 52 Size 62

n[rpm]

M [Nm] M [Nm]

n[rpm]

Gear unit ratio 7:1 Gear unit ratio 14:1 Gear unit ratio 22:1

1 Torque, nom.

2 Torque, max.

3 Torque, nom.

4 Torque, max.

5 Torque, nom.

6 Torque, max.

Pin allocation

1

2

3

4

1 Reference switch, 3-pin M8 socket 2 RS 232 interface, 4-pin M8 socket

Pin Function Pin Function

1 24 V 1 0 V

4 Reference input 2 Transmitted data (TxD)

3 0 V 3 Received data (RxD)

– 4 –



3 I/O interface, 9-pin Sub-D plug 3 CANopen interface, 9-pin Sub-D plug


1 Traversing record coding, bit 0 1 –

2 Traversing record coding, bit 1 2 CAN_L

3 Traversing record coding, bit 2 3 CAN_GND

4 Traversing record coding, bit 3 4 –

5 Start bit 5 CAN_SHLD

6 Enable bit 6 CAN_V–

7 Ready signal output 7 CAN_H

8 MC signal output 8 –

9 0 V 9 CAN_V+

3 Profibus interface, 9-pin Sub-D socket 3 DeviceNet interface, 9-pin Sub-D plug


1 – 1 –

2 Logic_GND 2 CAN_L

3 RxD/TxD-P 3 CAN_GND

4 CNTR-P 4 –

5 DGND 5 CAN_SHLD

6 VP 6 CAN_V–

7 Logic_V (24 V DC) 7 CAN_H

8 RxD/TxD-N 8 –

9 – 9 CAN_V+

4 Power supply, 2-pin plug

Pin Function

1 24 V DC (for MTR-DCI-32/42/52), 48 V DC (for MTR-DCI-62)

2 0 V

–

–

–

–

–

–

–



Dimensions Download CAD Data� www.festo.com/us/cad

Size 32 Size 52

Size 42

Size 62

1 M8x1, 4-pin

2 M8x1, 3-pin

3 Sub-D, 9-pin

4 Sub-D, 2-pin

Type D1

∅

g10

D2

∅

±0.1

D3

∅

h8

D4

∅

h7

D5

∅

H1 L1

±1

L2

±1

L3 L4 L5 L6 T1 T2

+2

MTR-DCI-32S-…-G7 – – 21.5 6 – 13±0.2 175.5 – 18.7±0.6 2.5±0.3 – – 6 –

MTR-DCI-32S-…-G14 – – 21.5 6 – 13±0.2 175.5 – 18.7±0.6 2.5±0.3 – – 6 –

MTR-DCI-42S-…-G7 42 42 25 8 – 11 176 33.3 25±1 2±0.1 25 – 7+2 10

MTR-DCI-42S-…-G14 42 42 25 8 – 11 176 46.3 25±1 2±0.1 25 – 7+2 10

MTR-DCI-52S-…-G7 52 52 32 12 – 17.3 194 39 33±1 3±0.3 31 – 10 –

MTR-DCI-52S-…-G14 52 52 32 12 – 17.3 194 53 33±1 3±0.3 31 – 10 –

MTR-DCI-62S-…-G7 62 62 40 14 15 61.3 270 47 39±1 5±0.3 31.3 9 10 –

MTR-DCI-62S-…-G14 62 62 40 14 15 61.3 270 47 39±1 5±0.3 31.3 9 10 –

MTR-DCI-62S-…-G22 62 62 40 14 15 61.3 270 47 39±1 5±0.3 31.3 9 10 –


Motor Units MTR-DCI, Intelligent Servo MotorsOrdering data – Configurable products

Mandatory data0M

Module No. Motor unit Flange/size Nominal voltage Measuring system Parameterisation

interface

Motor type Torque class Plug design Gearing unit Electrical connection

technology

533 736

533 742

533 748

533 754

MTR DCI 32

42

52

62

S VC

VD

SC E G7

G14

G22

R2

H2

IO

CO

PB

DN

Order

example

533 742 MTR – DCI – 42 S – VC SC – E G7 – R2 IO

Ordering table

Size 32 42 52 62 Condition

s

Code Enter

code

0M Module No. 533 736 533 742 533 748 533 754

Motor unit Motor unit MTR MTR

Motor type DC servo motor with integrated position controller -DCI -DCI

Flange/size 32 42 52 62 -…

Torque class Standard torque class S S

Nominal voltage [V] 24 DC – -VCg

[V] – 48 DC -VD

Plug design Straight plug SC SC

Measuring system Encoder -E -E

Gearing unit Integrated planetary gearing i = 6.75 G7g

Integrated planetary gearing i = 13.73 G14

–Integrated planetary

gearing i = 22.21

G22

Parameterisation interface RS232 interface -R2

RS232 interface + control panel -H2

Electrical connection technology I/O interface IOgy

CANopen CO

Profibus DP PB

DeviceNet DN

Transfer order code

MTR – DCI S SC – E – –


Motor Units MTR-DCI, Intelligent Servo MotorsAccessories

Ordering data – Cables

Brief description Cable length Part No. Type

Supply cable 2.5 m 537931 KPWR-MC-1-SUB-9HC-2,5pp y

Allocation�7 5 m 537932 KPWR-MC-1-SUB-9HC-5

10 m 537933 KPWR-MC-1-SUB-9HC-10

Control cable for I/O connection to any PLC controller 2.5 m 537923 KES-MC-1-SUB-9-2,5/ y

Allocation�7 5 m 537924 KES-MC-1-SUB-9-5

10 m 537925 KES-MC-1-SUB-9-10

Programming cable 2.5 m 537926 KDI-MC-M8-SUB-9-2,5g g

For parameterisation and commissioning via the RS232 interface using FCT

software

Allocation�7

Ordering data – Plugs

Brief description Part No. Type

Fieldbus adapter for Profibus

– 9-pin Sub-D plug to 5-pin round M12 plug/socket,

plus round M12 plug for logic voltage supply

– Bus terminating resistor must be connected externally

537934 FBA-PB-SUB-9-3XM12

Fieldbus adapter for CANopen and DeviceNet

– 9-pin Sub-D plug to 5-pin round M12 plug

– Bus terminating resistor must be connected externally

540324 FBA-CO-SUB-9-M12

Ordering data – Software

Brief description Part No. Type

Operator package contains:

– CD-ROM

– with user documentation for MTR-DCI,

in the languages de, en, es, fr, it, sv

– with FCT (Festo Configuration Tool) configuration software

– Brief description

This package is included in the scope of delivery.

550905 P.BP-MTR-DCI

Ordering data – Documentation1)

Language Part No. Type Part No. Type

For I/O interface For Profibus interface

EN 539616 P.BE-MTR-DCI-IO-EN 539624 P.BE-MTR-DCI-PB-EN

ES 539617 P.BE-MTR-DCI-IO-ES 539625 P.BE-MTR-DCI-PB-ES

FR 539618 P.BE-MTR-DCI-IO-FR 539626 P.BE-MTR-DCI-PB-FR

For CANopen interface For DeviceNet interface

EN 539630 P.BE-MTR-DCI-CO-EN 553531 P.BE-MTR-DCI-DN-EN

ES 539631 P.BE-MTR-DCI-CO-ES 553532 P.BE-MTR-DCI-DN-ES

FR 539632 P.BE-MTR-DCI-CO-FR 553533 P.BE-MTR-DCI-DN-FR

1) User documentation in paper form is not included in the scope of delivery

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motor units mtr-dci, intelligent servo motors

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